"""The lease: who may drive the arm, and how it changes hands."""

from dora_teleop.arbiter import GAMEPAD, WEB, Arbiter


def build(idle_release_s=2.0):
    return Arbiter(idle_release_s)


def test_a_free_arm_goes_to_whoever_asks():
    arbiter = build()

    assert arbiter.take(WEB, now := 100.0) is True
    assert arbiter.owner == WEB
    assert arbiter.may_drive(WEB)
    assert now == 100.0


def test_a_held_arm_is_not_handed_over_for_the_asking():
    arbiter = build()
    arbiter.take(GAMEPAD, 100.0)

    assert arbiter.take(WEB, 101.0) is False
    assert arbiter.owner == GAMEPAD


def test_a_non_owner_may_not_drive():
    arbiter = build()
    arbiter.take(GAMEPAD, 100.0)

    assert arbiter.may_drive(WEB) is False


def test_preempting_takes_a_held_arm():
    # The console offers this deliberately: an operator who can see the arm is
    # better placed than this code to decide they should have it.
    arbiter = build()
    arbiter.take(GAMEPAD, 100.0)

    assert arbiter.take(WEB, 101.0, preempt=True) is True
    assert arbiter.owner == WEB


def test_taking_an_arm_you_already_hold_is_not_a_conflict():
    arbiter = build()
    arbiter.take(WEB, 100.0)

    assert arbiter.take(WEB, 101.0) is True


def test_releasing_frees_the_arm():
    arbiter = build()
    arbiter.take(WEB, 100.0)

    arbiter.release(WEB)

    assert arbiter.owner is None


def test_releasing_an_arm_somebody_else_holds_does_nothing():
    arbiter = build()
    arbiter.take(GAMEPAD, 100.0)

    arbiter.release(WEB)

    assert arbiter.owner == GAMEPAD


def test_an_idle_gamepad_hands_the_arm_back():
    # A pad left on the bench would otherwise lock the browser out forever.
    arbiter = build(idle_release_s=2.0)
    arbiter.take(GAMEPAD, 100.0)

    arbiter.expire_idle_gamepad(102.0)

    assert arbiter.owner is None


def test_a_gamepad_still_being_used_keeps_the_arm():
    arbiter = build(idle_release_s=2.0)
    arbiter.take(GAMEPAD, 100.0)

    arbiter.note_activity(GAMEPAD, 101.5)
    arbiter.expire_idle_gamepad(102.0)

    assert arbiter.owner == GAMEPAD


def test_the_web_never_expires_on_its_own():
    # It took the arm by pressing a button and gives it back by pressing another.
    arbiter = build(idle_release_s=2.0)
    arbiter.take(WEB, 100.0)

    arbiter.expire_idle_gamepad(999.0)

    assert arbiter.owner == WEB


def test_activity_from_a_non_owner_does_not_extend_anyone_else():
    arbiter = build(idle_release_s=2.0)
    arbiter.take(GAMEPAD, 100.0)

    arbiter.note_activity(WEB, 101.9)
    arbiter.expire_idle_gamepad(102.0)

    assert arbiter.owner is None